├── .cursor └── rules │ └── general.mdc ├── .dvc ├── .gitignore └── config ├── .dvcignore ├── .flake8 ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .readthedocs.yaml ├── LICENSE ├── README.md ├── configs ├── dataset │ ├── anno │ │ ├── ade20k.yaml │ │ └── oneformer.yaml │ ├── hm3d.yaml │ ├── itlp.yaml │ ├── nclt.yaml │ ├── nclt_image.yaml │ ├── oxford.yaml │ └── sensors_cfg │ │ ├── husky.yaml │ │ └── nclt.yaml ├── find_parameters_multimodal.yaml ├── finetune_itlp_multimodal.yaml ├── finetune_itlp_multimodal_semantic.yaml ├── finetune_itlp_multimodal_semantic_with_soc_outdoor.yaml ├── finetune_itlp_multimodal_with_soc_outdoor.yaml ├── loss │ ├── batch_hard_contrastive.yaml │ └── batch_hard_triplet_margin.yaml ├── model │ ├── ocr │ │ └── ocr_model.yaml │ ├── place_recognition │ │ ├── apgem.yaml │ │ ├── asvtnet.yaml │ │ ├── boq.yaml │ │ ├── cosplace.yaml │ │ ├── csvtnet.yaml │ │ ├── dinov2.yaml │ │ ├── minkloc3d.yaml │ │ ├── minkloc3dv2.yaml │ │ ├── multi-image_lidar_late-fusion.yaml │ │ ├── multi-image_multi-semantic_lidar_late-fusion.yaml │ │ ├── multi-image_multi-semantic_lidar_late-fusion_int8.yaml │ │ ├── multi-image_multi-semantic_lidar_late-fusion_int8_jetson.yaml │ │ ├── multi-image_multi-semantic_lidar_late-fusion_onnx.yaml │ │ ├── multi-image_multi-semantic_lidar_late-fusion_trt.yaml │ │ ├── multimodal_semantic_with_soc_outdoor.yaml │ │ ├── multimodal_with_soc_outdoor.yaml │ │ ├── netvlad.yaml │ │ ├── overlaptransformer.yaml │ │ ├── patchnetvlad.yaml │ │ ├── pointmamba.yaml │ │ ├── pointnetvlad.yaml │ │ ├── resnet18-add_minkloc3dv2.yaml │ │ ├── resnet18-gem-seqgem_minkloc3dv2.yaml │ │ ├── resnet18-mixvpr-seqgem_minkloc3dv2.yaml │ │ ├── resnet18-seqgem_minkloc3dv2.yaml │ │ ├── resnet18_add.yaml │ │ ├── resnet18_cosplace_seqgem.yaml │ │ ├── resnet18_gem.yaml │ │ ├── resnet18_gem_norm.yaml │ │ ├── resnet18_mambamixer.yaml │ │ ├── resnet18_mixvpr_add.yaml │ │ ├── resnet18_mixvpr_seqgem.yaml │ │ ├── resnet18_multi-image-gem.yaml │ │ ├── resnet18_netvlad_add.yaml │ │ ├── resnet18_netvlad_seqgem.yaml │ │ ├── resnet18_seqgem.yaml │ │ ├── resnet50-gem-seqgem_minkloc3dv2.yaml │ │ ├── resnet50_add.yaml │ │ ├── resnet50_cosplace_seqgem.yaml │ │ ├── resnet50_mixvpr_seqgem.yaml │ │ ├── resnet50_netvlad_seqgem.yaml │ │ ├── resnet50_seqgem.yaml │ │ ├── soc_mixer.yaml │ │ ├── soc_mlp.yaml │ │ ├── speedup │ │ │ ├── multi-image_lidar_late-fusion.yaml │ │ │ ├── multi-image_multi-semantic_lidar_late-fusion.yaml │ │ │ ├── multi-image_multi-semantic_lidar_soc_late-fusion.yaml │ │ │ └── soc_mixer.yaml │ │ ├── speedup_benchmark.yaml │ │ ├── svtnet.yaml │ │ └── theia.yaml │ └── registration │ │ ├── geotransformer_kitti.yaml │ │ ├── hregnet.yaml │ │ ├── hregnet_coarse.yaml │ │ ├── hregnet_light_feats.yaml │ │ └── hregnet_nosim.yaml ├── optimizer │ ├── adam.yaml │ └── adamw.yaml ├── sampler │ └── batch_sampler.yaml ├── scheduler │ └── multi_step.yaml ├── test_nclt.yaml ├── train_multimodal.yaml ├── train_soc.yaml └── train_unimodal.yaml ├── docker ├── Dockerfile.base ├── Dockerfile.devel ├── Dockerfile.jetson-base ├── Dockerfile.jetson-devel ├── README.md ├── build_base.sh ├── build_devel.sh ├── build_jetson_base.sh ├── build_jetson_devel.sh ├── into.sh ├── start.sh ├── start_jetson.sh └── torch_tensorrt_workspace │ └── WORKSPACE.jp51 ├── docs ├── Makefile ├── images │ ├── 00_indoor_track_map.png │ ├── 00_outdoor_track_map.png │ ├── PR_overview.png │ ├── dataset-cover-husky.png │ ├── segmentation_mask_over_image_demo.png │ └── sem_mask_image_indoor.png ├── make.bat ├── requirements.txt └── source │ ├── _templates │ ├── layout.html │ └── sidebar │ │ └── navigation.html │ ├── api │ ├── index.rst │ ├── opr.datasets.rst │ ├── opr.losses.rst │ ├── opr.miners.rst │ ├── opr.models.place_recognition.rst │ ├── opr.models.registration.rst │ ├── opr.models.rst │ ├── opr.modules.feature_extractors.rst │ ├── opr.modules.rst │ ├── opr.pipelines.localization.rst │ ├── opr.pipelines.place_recognition.rst │ ├── opr.pipelines.registration.rst │ ├── opr.pipelines.rst │ ├── opr.samplers.rst │ ├── opr.trainers.place_recognition.rst │ └── opr.trainers.rst │ ├── conf.py │ ├── featured_modules │ ├── 01_place_recognition_pipeline.rst │ ├── 02_sequence_pointcloud_registration_pipeline.rst │ ├── 03_place_recognition_pipeline_with_semantics.rst │ ├── 04_aruco_localization_pipeline.rst │ ├── 05_localization_with_dynamic_objects.rst │ ├── 06_place_recognition_pipeline_with_soc.rst │ ├── 07_invariant_place_recognition_pipeline.rst │ ├── 08_text_labels_place_recognition.rst │ ├── 09_multimodal_place_recognition_trainer.rst │ ├── 10_depth_estimation_pipeline.rst │ ├── 11_latefusion_with_semantics.rst │ ├── 12_itlp_dataset_reader.rst │ ├── 13_topological_localization_pipeline.rst │ └── index.rst │ ├── index.rst │ ├── itlp_dataset.rst │ └── locale │ └── ru │ └── LC_MESSAGES │ ├── api │ ├── index.po │ ├── opr.datasets.po │ ├── opr.losses.po │ ├── opr.miners.po │ ├── opr.models.place_recognition.po │ ├── opr.models.po │ ├── opr.models.registration.po │ ├── opr.modules.feature_extractors.po │ ├── opr.modules.po │ ├── opr.pipelines.localization.po │ ├── opr.pipelines.place_recognition.po │ ├── opr.pipelines.po │ ├── opr.pipelines.registration.po │ ├── opr.samplers.po │ ├── opr.trainers.place_recognition.po │ └── opr.trainers.po │ ├── featured_modules │ ├── 01_place_recognition_pipeline.po │ ├── 02_sequence_pointcloud_registration_pipeline.po │ ├── 03_place_recognition_pipeline_with_semantics.po │ ├── 04_aruco_localization_pipeline.po │ ├── 05_localization_with_dynamic_objects.po │ ├── 06_place_recognition_pipeline_with_soc.po │ ├── 07_invariant_place_recognition_pipeline.po │ ├── 08_text_labels_place_recognition.po │ ├── 09_multimodal_place_recognition_trainer.po │ ├── 10_depth_estimation_pipeline.po │ ├── 11_latefusion_with_semantics.po │ ├── 12_itlp_dataset_reader.po │ ├── 13_topological_localization_pipeline.po │ └── index.po │ ├── index.po │ └── itlp_dataset.po ├── img └── uml.pdf ├── notebooks ├── aruco_pipeline.ipynb ├── build_database.ipynb ├── demo_datasets.ipynb ├── demo_itlp_dataset.ipynb ├── demo_losses.ipynb ├── demo_models.ipynb ├── demo_pipelines.ipynb ├── finetune_itlp │ ├── finetune_itlp_multimodal.ipynb │ ├── finetune_itlp_multimodal_semantic.ipynb │ ├── finetune_itlp_multimodal_semantic_with_soc_outdoor.ipynb │ └── finetune_itlp_multimodal_with_soc_outdoor.ipynb ├── localization_with_dynamic_objects.ipynb ├── test_cross_season │ ├── 01_PlaceRecognitionPipeline.ipynb │ ├── 02_SequencePointcloudRegistrationPipeline.ipynb │ ├── 03_PlaceRecognitionPipeline_with_semantics.ipynb │ ├── 04_ArucoLocalizationPipeline.ipynb │ ├── 05_LocalizationPipeline_with_dynamic.ipynb │ ├── 06_PlaceRecognitionPipeline_with_SOC.ipynb │ ├── 07_Invariant_PlaceRecognitionPipeline.ipynb │ ├── 08_TextLabelsPlaceRecognition.ipynb │ └── 09_LateFusionModel_with_semantics.ipynb ├── test_depth_reconstruction.ipynb ├── test_itlp │ ├── 01_PlaceRecognitionPipeline.ipynb │ ├── 03_PlaceRecognitionPipeline_with_semantics.ipynb │ ├── 04_ArucoLocalizationPipeline.ipynb │ ├── 05_LocalizationPipeline_with_dynamic.ipynb │ ├── 06_PlaceRecognitionPipeline_with_SOC.ipynb │ ├── 07_Invariant_PlaceRecognitionPipeline.ipynb │ ├── 08_TextLabelsPlaceRecognition.ipynb │ └── 09_LateFusionModel_with_semantics.ipynb ├── test_itlp_with_pipelines.ipynb ├── test_public_datasets │ ├── 01_PlaceRecognitionPipeline.ipynb │ ├── 02_SequencePointcloudRegistrationPipeline.ipynb │ ├── 03_PlaceRecognitionPipeline_with_semantics.ipynb │ ├── 05_PlaceRecognitionPipeline_exclude_dynamic.ipynb │ ├── 06_PlaceRecognitionPipeline_with_SOC.ipynb │ └── 07_Invariant_PlaceRecognitionPipeline.ipynb ├── test_public_datasets_v2 │ ├── 01_PlaceRecognitionPipeline.ipynb │ └── 02_SequencePointcloudRegistrationPipeline.ipynb ├── test_update_pointcloud_reg_pipe.ipynb ├── text_labels_pipeline.ipynb ├── topological_pipeline.ipynb ├── tutorial_inference_index.ipynb ├── tutorial_inference_localization_pipeline.ipynb ├── tutorial_inference_place_recognition_pipeline.ipynb └── vis_image_mask_text.ipynb ├── pyproject.toml ├── requirements-dev.txt ├── requirements-notebook.txt ├── requirements.txt ├── scripts ├── profiling │ └── geo_distance_memory_usage.py ├── speedup │ ├── benchmark.py │ ├── build_engine.py │ └── convert_to_onnx.py ├── test.py ├── test_boq.py └── training │ └── place_recognition │ ├── find_parameters_multimodal.py │ ├── train_multimodal.py │ └── train_unimodal.py ├── src └── opr │ ├── __init__.py │ ├── const.py │ ├── datasets │ ├── __init__.py │ ├── augmentations.py │ ├── base.py │ ├── dataloader_factory.py │ ├── hm3d.py │ ├── itlp.py │ ├── nclt.py │ ├── nclt2.py │ ├── oxford.py │ ├── projection.py │ └── soc_utils.py │ ├── inference │ ├── __init__.py │ ├── index │ │ ├── __init__.py │ │ ├── base.py │ │ ├── faiss.py │ │ └── io.py │ ├── io │ │ ├── __init__.py │ │ ├── localization_results.py │ │ └── pointclouds.py │ ├── pipelines │ │ ├── __init__.py │ │ ├── localization.py │ │ ├── place_recognition.py │ │ ├── registration.py │ │ └── sequence_place_recognition.py │ └── preprocessing │ │ ├── __init__.py │ │ └── pointcloud.py │ ├── losses │ ├── __init__.py │ ├── batch_hard_contrastive.py │ └── batch_hard_triplet_margin.py │ ├── miners │ ├── __init__.py │ └── batch_hard_triplet_miner.py │ ├── models │ ├── __init__.py │ ├── localization │ │ ├── local_grid.py │ │ ├── pose_utils.py │ │ └── topo_graph.py │ ├── ocr │ │ └── paddle.py │ ├── place_recognition │ │ ├── __init__.py │ │ ├── apgem.py │ │ ├── base.py │ │ ├── boqmodel.py │ │ ├── cosplace.py │ │ ├── dinov2.py │ │ ├── minkloc.py │ │ ├── netvlad.py │ │ ├── overlaptransformer.py │ │ ├── patchnetvlad.py │ │ ├── pointmamba.py │ │ ├── pointnetvlad.py │ │ ├── resnet.py │ │ ├── sequential.py │ │ ├── soc.py │ │ ├── svtnet.py │ │ └── theia.py │ └── registration │ │ ├── __init__.py │ │ ├── geotransformer.py │ │ └── hregnet.py │ ├── modules │ ├── __init__.py │ ├── cosplace.py │ ├── eca.py │ ├── feature_extractors │ │ ├── __init__.py │ │ ├── boq │ │ │ ├── __init__.py │ │ │ ├── backbones.py │ │ │ ├── boq.py │ │ │ ├── hubconf.py │ │ │ ├── model.py │ │ │ └── utils.py │ │ ├── convnext.py │ │ ├── dinov2.py │ │ ├── mink_resnet.py │ │ ├── resnet.py │ │ ├── svtnet.py │ │ ├── theia.py │ │ └── vgg.py │ ├── fusion.py │ ├── gem.py │ ├── mixvpr.py │ ├── mlp.py │ ├── netvlad.py │ ├── normalization.py │ ├── self_attention.py │ ├── svt.py │ └── temporal.py │ ├── optional_deps.py │ ├── pipelines │ ├── __init__.py │ ├── depth_estimation.py │ ├── localization │ │ ├── __init__.py │ │ ├── aruco.py │ │ ├── base.py │ │ └── topological.py │ ├── place_recognition │ │ ├── __init__.py │ │ ├── base.py │ │ ├── sequential.py │ │ └── text_labels.py │ └── registration │ │ ├── __init__.py │ │ └── pointcloud.py │ ├── samplers │ ├── __init__.py │ └── batch_sampler.py │ ├── testers │ ├── __init__.py │ └── place_recognition │ │ ├── __init__.py │ │ └── model.py │ ├── testing.py │ ├── trainers │ ├── __init__.py │ └── place_recognition │ │ ├── __init__.py │ │ ├── multimodal.py │ │ └── unimodal.py │ └── utils.py ├── tests ├── README.md ├── __init__.py ├── conftest.py ├── fixtures │ ├── __init__.py │ ├── minkowski_fixtures.py │ └── mock_fixtures.py ├── integration │ └── _template_integration_test.py └── unit │ ├── _template_unit_test.py │ ├── datasets │ ├── test_itlp.py │ ├── test_nclt.py │ └── test_oxford.py │ ├── inference │ ├── test_index.py │ ├── test_localization_pipeline.py │ ├── test_localization_results_io.py │ ├── test_place_recognition_pipeline.py │ ├── test_pointcloud_preprocessor.py │ ├── test_pointcloud_store.py │ ├── test_registration_ransac.py │ └── test_sequence_place_recognition_pipeline.py │ ├── modules │ ├── test_eca.py │ └── test_gem.py │ ├── opr │ └── testers │ │ └── place_recognition │ │ └── test_model.py │ ├── test_imports.py │ ├── test_lazy_function.py │ └── test_optional_deps.py └── weights ├── place_recognition ├── .gitignore ├── ResNet18FPN_ImageFeatureExtractor.onnx.dvc ├── ResNet18FPN_ImageFeatureExtractor_int8_jetsonXavier.engine.dvc ├── ResNet18FPN_ImageFeatureExtractor_int8_nvidia.engine.dvc ├── best_soc_75.pth.dvc ├── best_soc_oriented.pth.dvc ├── minkloc3d_nclt.pth.dvc ├── multi-image_lidar_late-fusion_nclt.pth.dvc ├── multi-image_multi-semantic_lidar_late-fusion_nclt.pth.dvc ├── multimodal_semantic_with_soc_outdoor_nclt.pth.dvc ├── multimodal_with_soc_outdoor_nclt.pth.dvc └── soc_nclt.pth.dvc └── registration ├── .gitignore ├── geotransformer_kitti.pth.dvc ├── hregnet_kitti.pth.dvc ├── hregnet_light_feats_nuscenes.pth.dvc ├── hregnet_light_nuscenes.pth.dvc ├── hregnet_nosim_nuscenes.pth.dvc └── hregnet_nuscenes.pth.dvc /.cursor/rules/general.mdc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OPR-Project/OpenPlaceRecognition/HEAD/.cursor/rules/general.mdc -------------------------------------------------------------------------------- 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